Humanoid soccer contact skills require more than producing high-impact foot-ball contacts: the robot must close the loop over perception, approach, alignment, impact, and recovery while its own motion induces substantial viewpoint changes, frequent loss of the ball from view, and uncertain contact outcomes. In this wor...
Jia-Kang Jin, Yi-Xiao Huo, Peng-Yuan Wang et al.· 0 citations
This work constructs a specialized dataset to demystify the emotional circuits underlying the three-stage ``Adapt-Aggregate-Execute''mechanism and discovers a functional decoupling: visual emotional cues are aggregated in middle layers via sentiment-specific attention heads, but are subsequently translated into narrati...
This work proposes FutureBridge-OPD (FTB), which executes a short teacher bridge at a high disagreement state and uses the resulting student continuation to assess whether the bridge increases the density of positive distillation signals relative to the teacher.
Chishui Chen, Yao Fan, Te Sun et al.· 7 citations· ⚡3
Thinking with images allows a multimodal model to compensate for limited perception by invoking visual tools through code. Yet the prevailing SFT-then-RL recipe creates a different supervision misalignment at each stage. SFT is expected to teach how to use tools, but trajectories from stronger teachers may succeed thro...
Delin Mao, Cheng-Hao Sun, Jing-Wei Song et al.· 1 citation
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